基于PSO-BP模糊PID的变距取苗机构控制系统设计  

Control System Design of Variable Distance Seedling Picking Mechanism Based on PSO-BP Fuzzy PID

作　　者：李润泽 王卫兵[1,2] 李小军 Li Runze;Wang Weibing;Li Xiaojun(College of Mechanical and Electrical Engineering,Shihezi University,Shihezi 832000,China;Key Laboratory Agriculture of Xinjiang Production and Construction Groups,Shihezi 832003,China)

机构地区：[1]石河子大学机械电气工程学院,新疆石河子832000 [2]新疆生产建设兵团农业机械重点实验室,新疆石河子832003

出　　处：《农机化研究》2025年第2期9-18,共10页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(61763042)。

摘　　要：为满足番茄、辣椒等蔬菜作物的移栽需求,基于向下取苗原理设计了一种适用72穴和128穴两种主要番茄钵苗穴盘规格的变距取苗机构,通过建立数学模型获得了取苗机械手参数的目标函数,并利用粒子群和模拟退火混合算法对其结构参数进行优化。同时,为实现变距取苗机构的精确控制,提出了一种基于PSO-BP的模糊PID算法以提高控制精度,介绍了系统的结构与工作原理,并通过选型计算与分析建模建立了控制系统的数学模型。针对传统PID控制器稳定性差、响应速度慢等不足之处,利用PSO-BP模糊PID对控制器的参数进行在线调整,以满足控制过程中对参数的不同需求。仿真结果与试验数据的分析表明:在参数相同条件下,基于PSO-BP模糊PID控制系统系统稳定性更好、响应速度更快,具有良好的鲁棒性,提升取苗成功率的同时降低了基质损伤率,能够满足变距取苗机构高精度快速稳定控制的需求。In order to meet the transplanting needs of tomato,pepper and other vegetable crops,based on the principle of down-picking seedlings,a variable-distance seedling-picking mechanism suitable for two main tomato pot seedling specifications,72 holes and 128 holes,was designed.In order to realize the precise control of the variable distance seedling picking mechanism,the objective function of the parameters of the seedling picking manipulator is obtained by establishing a mathematical model,and its structural parameters are optimized by using the hybrid algorithm of particle swarm optimization and simulated annealing.A fuzzy PID algorithm based on PSO-BP is proposed to improve the control precision.Introduced the structure and working principle of the system,and established the mathematical model of the control system through type selection calculation and analysis modeling.In view of the shortcomings of traditional PID controllers such as poor stability and slow response speed,PSO-BP fuzzy PID is used to adjust the parameters of the controller online to meet the different needs of the parameters in the control process.The analysis of simulation results and test data shows that under the same parameters,the fuzzy PID control system based on PSO-BP has better system stability,faster response speed,and good robustness.The damage rate of the matrix can meet the needs of high-precision,fast and stable control of the variable-distance seedling picking mechanism.

关 键 词：变距取苗机构 PSO-BP神经网络 模糊PID算法 控制系统 

分 类 号：S223.94[农业科学—农业机械化工程] S220.3[农业科学—农业工程]